SpaceX made history last week after the aerospace manufacturer successfully launched the Falcon Heavy rocket into space with the founder’s Tesla car onboard.

Footage has now emerged showing Elon Musk monitoring the launch from the mission control centre in Cape Canaveral Airforce Station before erupting into a passionate outburst.

Mr Musk can be seen surrounded by several members of the SpaceX crew observing the SpaceX’s boosters returning back to Earth and performing a synchronised landing.

The National Geographic footage recorded Mr Musk expressing his joy at the successful launch, exclaiming: “Holy flying f***, that thing took off.”

Running out of the mission control centre to catch the return of SpaceX’s boosters, Mr Musk can be seen looking on at the Falcon Heavy rocket taking off towards Mars carrying a dummy pilot named Starman and Mr Musk’s Tesla car.

A third booster was planned to detach from the rocket and land itself on an autonomous drone ship stationed in the Atlantic Ocean.

As the two boosters returned to Cape Canaveral and landed on twin pads, sonic booms from the Falcon Heavy rocket continuing its journey into space can be heard.

The Falcon 9 boosters touched down and are planned to be used in future missions.

SpaceX said before the launch: “When Falcon Heavy lifts off, it will be the most powerful operational rocket in the world by a factor of two.

“With the ability to lift into orbit nearly 64 metric tons (141,000 lb) – a mass greater than a 737 jetliner loaded with passengers, crew, luggage, and fuel – Falcon Heavy can lift more than twice the payload of the next closest operational vehicle, the Delta IV Heavy, at one-third the cost.

“Falcon Heavy draws upon the proven heritage and reliability of Falcon 9.”

An image of the car heading towards Mars showed the cherry-red sports car displaying a comical message reading “don’t panic” on the dashboard.

Despite carrying the car into space, the aim of the missile is to test the Falcon Heavy’s space-faring capabilities for future manned missions to Mars.